/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/*
 *  NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
 *  The processor MUST be in supervisor mode when vTaskStartScheduler is
 *  called.  The demo applications included in the FreeRTOS.org download switch
 *  to supervisor mode prior to main being called.  If you are not using one of
 *  these demo application projects then ensure Supervisor mode is used.
 */


/*
 * Creates all the application tasks, then starts the scheduler.
 *
 * A task defined by the function vBasicWEBServer is created.  This executes
 * the lwIP stack and basic WEB server sample.  A task defined by the function
 * vUSBCDCTask.  This executes the USB to serial CDC example.  All the other
 * tasks are from the set of standard demo tasks.  The WEB documentation
 * provides more details of the standard demo application tasks.
 *
 * Main.c also creates a task called "Check".  This only executes every three
 * seconds but has the highest priority so is guaranteed to get processor time.
 * Its main function is to check the status of all the other demo application
 * tasks.  LED mainCHECK_LED is toggled every three seconds by the check task
 * should no error conditions be detected in any of the standard demo tasks.
 * The toggle rate increasing to 500ms indicates that at least one error has
 * been detected.
 *
 * Main.c includes an idle hook function that simply periodically sends data
 * to the USB task for transmission.
 */

/*
 *  Changes from V3.2.2
 *
 + Modified the stack sizes used by some tasks to permit use of the
 +    command line GCC tools.
 */

/* Library includes. */
#include <string.h>
#include <stdio.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo application includes. */
#include "partest.h"
#include "PollQ.h"
#include "semtest.h"
#include "flash.h"
#include "integer.h"
#include "BlockQ.h"
#include "BasicWEB.h"
#include "USB-CDC.h"

/* lwIP includes. */
#include "lwip/api.h"

/* Hardware specific headers. */
#include "Board.h"
#include "AT91SAM7X256.h"

/* Priorities/stacks for the various tasks within the demo application. */
#define mainQUEUE_POLL_PRIORITY      ( tskIDLE_PRIORITY + 1 )
#define mainCHECK_TASK_PRIORITY      ( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY        ( tskIDLE_PRIORITY + 1 )
#define mainFLASH_PRIORITY           ( tskIDLE_PRIORITY + 2 )
#define mainBLOCK_Q_PRIORITY         ( tskIDLE_PRIORITY + 1 )
#define mainWEBSERVER_PRIORITY       ( tskIDLE_PRIORITY + 2 )
#define mainUSB_PRIORITY             ( tskIDLE_PRIORITY + 1 )
#define mainUSB_TASK_STACK           ( 200 )

/* The rate at which the on board LED will toggle when there is/is not an
 * error. */
#define mainNO_ERROR_FLASH_PERIOD    ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
#define mainERROR_FLASH_PERIOD       ( ( TickType_t ) 500 / portTICK_PERIOD_MS )

/* The rate at which the idle hook sends data to the USB port. */
#define mainUSB_TX_FREQUENCY         ( 100 / portTICK_PERIOD_MS )

/* The string that is transmitted down the USB port. */
#define mainFIRST_TX_CHAR            'a'
#define mainLAST_TX_CHAR             'z'

/* The LED used by the check task to indicate the system status. */
#define mainCHECK_LED                ( 3 )
/*-----------------------------------------------------------*/

/*
 * Checks that all the demo application tasks are still executing without error
 * - as described at the top of the file.
 */
static long prvCheckOtherTasksAreStillRunning( void );

/*
 * The task that executes at the highest priority and calls
 * prvCheckOtherTasksAreStillRunning().  See the description at the top
 * of the file.
 */
static void vErrorChecks( void * pvParameters );

/*
 * Configure the processor for use with the Atmel demo board.  This is very
 * minimal as most of the setup is performed in the startup code.
 */
static void prvSetupHardware( void );

/*
 * The idle hook is just used to stream data to the USB port.
 */
void vApplicationIdleHook( void );
/*-----------------------------------------------------------*/

/*
 * Setup hardware then start all the demo application tasks.
 */
int main( void )
{
    /* Setup the ports. */
    prvSetupHardware();

    /* Setup the IO required for the LED's. */
    vParTestInitialise();

    /* Setup lwIP. */
    vlwIPInit();

    /* Create the lwIP task.  This uses the lwIP RTOS abstraction layer.*/
    sys_thread_new( vBasicWEBServer, ( void * ) NULL, mainWEBSERVER_PRIORITY );

    /* Create the demo USB CDC task. */
    xTaskCreate( vUSBCDCTask, "USB", mainUSB_TASK_STACK, NULL, mainUSB_PRIORITY, NULL );

    /* Create the standard demo application tasks. */
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartLEDFlashTasks( mainFLASH_PRIORITY );
    vStartIntegerMathTasks( tskIDLE_PRIORITY );
    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

    /* Start the check task - which is defined in this file. */
    xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

    /* Finally, start the scheduler.
     *
     * NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
     * The processor MUST be in supervisor mode when vTaskStartScheduler is
     * called.  The demo applications included in the FreeRTOS.org download switch
     * to supervisor mode prior to main being called.  If you are not using one of
     * these demo application projects then ensure Supervisor mode is used here. */
    vTaskStartScheduler();

    /* Should never get here! */
    return 0;
}
/*-----------------------------------------------------------*/


static void prvSetupHardware( void )
{
    /* When using the JTAG debugger the hardware is not always initialised to
     * the correct default state.  This line just ensures that this does not
     * cause all interrupts to be masked at the start. */
    AT91C_BASE_AIC->AIC_EOICR = 0;

    /* Most setup is performed by the low level init function called from the
     * startup asm file.
     *
     * Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
     * well as the UART Tx line. */
    AT91C_BASE_PIOB->PIO_PER = LED_MASK; /* Set in PIO mode */
    AT91C_BASE_PIOB->PIO_OER = LED_MASK; /* Configure in Output */


    /* Enable the peripheral clock. */
    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOA;
    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_PIOB;
    AT91C_BASE_PMC->PMC_PCER = 1 << AT91C_ID_EMAC;
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void * pvParameters )
{
    TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
    TickType_t xLastWakeTime;

    /* The parameters are not used. */
    ( void ) pvParameters;

    /* Initialise xLastWakeTime to ensure the first call to vTaskDelayUntil()
     * functions correctly. */
    xLastWakeTime = xTaskGetTickCount();

    /* Cycle for ever, delaying then checking all the other tasks are still
     * operating without error.  If an error is detected then the delay period
     * is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
     * the Check LED flash rate will increase. */
    for( ; ; )
    {
        /* Delay until it is time to execute again.  The delay period is
         * shorter following an error. */
        vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );

        /* Check all the standard demo application tasks are executing without
         * error.  */
        if( prvCheckOtherTasksAreStillRunning() != pdPASS )
        {
            /* An error has been detected in one of the tasks - flash faster. */
            xDelayPeriod = mainERROR_FLASH_PERIOD;
        }

        vParTestToggleLED( mainCHECK_LED );
    }
}
/*-----------------------------------------------------------*/

static long prvCheckOtherTasksAreStillRunning( void )
{
    long lReturn = ( long ) pdPASS;

    /* Check all the demo tasks (other than the flash tasks) to ensure
     * that they are all still running, and that none of them have detected
     * an error. */

    if( xArePollingQueuesStillRunning() != pdTRUE )
    {
        lReturn = ( long ) pdFAIL;
    }

    if( xAreSemaphoreTasksStillRunning() != pdTRUE )
    {
        lReturn = ( long ) pdFAIL;
    }

    if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
    {
        lReturn = ( long ) pdFAIL;
    }

    if( xAreBlockingQueuesStillRunning() != pdTRUE )
    {
        lReturn = ( long ) pdFAIL;
    }

    return lReturn;
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
    static TickType_t xLastTx = 0;
    char cTxByte;

    /* The idle hook simply sends a string of characters to the USB port.
     * The characters will be buffered and sent once the port is connected. */
    if( ( xTaskGetTickCount() - xLastTx ) > mainUSB_TX_FREQUENCY )
    {
        xLastTx = xTaskGetTickCount();

        for( cTxByte = mainFIRST_TX_CHAR; cTxByte <= mainLAST_TX_CHAR; cTxByte++ )
        {
            vUSBSendByte( cTxByte );
        }
    }
}
